Robot system comprising a crane tool, and conveyance method

(19)

(11)

EP 2 777 893 A3

(12)	EUROPEAN PATENT APPLICATION

(88)	Date of publication A3:
	01.04.2015 Bulletin 2015/14

(43)	Date of publication A2:
	17.09.2014 Bulletin 2014/38

(21)	Application number: 14157430.1

(22)	Date of filing: 03.03.2014

(51)

International Patent Classification (IPC):

B25J 9/00^(2006.01)

B25J 19/00^(2006.01)

(84)	Designated Contracting States:
	AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
	Designated Extension States:
	BA ME

(30)

Priority:

14.03.2013 JP 2013051740

(71)	Applicant: Kabushiki Kaisha Yaskawa Denki
	Kitakyushu-shi, Fukuoka 806-0004 (JP)

(72)	Inventors:
	Tsutsumi, Ryosuke Kitakyushu-shi, Fukuoka 806-0004 (JP) Harada, Toshiyuki Kitakyushu-shi, Fukuoka 806-0004 (JP) Matsufuji, Kenji Kitakyushu-shi, Fukuoka 806-0004 (JP) Ikeda, Toshiaki Kitakyushu-shi, Fukuoka 806-0004 (JP)

(74)	Representative: Viering, Jentschura & Partner Patent- und Rechtsanwälte
	Grillparzerstrasse 14 81675 München 81675 München (DE)

(54)	Robot system comprising a crane tool, and conveyance method

(57) A crane tool (40, 70) includes: a hook portion (42) for hanging a work (W), attached to one arm section (13) in a first robot arm (10A, 60A) having a base (11), a plurality of arm sections (12 to 14) connected to the base in series, and a plurality of joints (15 to 17) adapted to swing the arm sections, respectively, the crane tool; a counterweight portion (43); and a joint portion (J1, J2) connecting the hook portion to the counterweight portion. The counterweight portion is located such that a joint (16) swinging the arm section to which the hook portion is attached is interposed between the hook portion and the counterweight portion in substantially a horizontal direction.

Search report

Search report